CN108699799A

CN108699799A - Work machine

Info

Publication number: CN108699799A
Application number: CN201780011420.1A
Authority: CN
Inventors: 泉枝穗; 成川理优; 石川广二; 坂井大斗; 黑濑贵彦
Original assignee: Hitachi Construction Machinery Co Ltd
Current assignee: Hitachi Construction Machinery Co Ltd
Priority date: 2016-06-30
Filing date: 2017-02-28
Publication date: 2018-10-23
Anticipated expiration: 2037-02-28
Also published as: EP3480371A4; US10801187B2; KR102024701B1; WO2018003176A1; JP6564739B2; EP3480371B1; KR20180102137A; JP2018003388A; CN108699799B; US20190119886A1; EP3480371A1

Abstract

There is the control unit (9) that region limitation control is executed for apparatus for work (1A) in Work machine.Control unit (9) has:Position operational part (21), the position of the rear end (the 2nd datum mark (Q1)) on the top (the 1st datum mark (P1)) and scraper bowl (1c) that calculate scraper bowl (1c) in action plane;With the 1st distance calculating unit (22), the distance (PC1, QC1) until the 1st datum mark (P1) and the 2nd datum mark (Q1) to the target face (A) of control object in action plane is calculated separately out.Control unit (9) distance of a smaller side in two distances (PC1, QC1) in the limitation control of region be threshold value (T1) below when, to being modified in a manner of the reduction of the movement speed of the hydraulic actuating mechanism (3b) of the object of the operation signal from the operation signal that function lever apparatus (4) export.

Description

Work machine

Technical field

The present invention relates to Work machines.

Background technology

In hydraulic crawler excavator, due to the working rigs such as swing arm, dipper, scraper bowl (hereinafter also referred to " preceding working rig ") respectively by It rotatably supports, so scraper bowl top can describe the track on circular arc in single movement.Thus, for example to pass through drawing The action of dipper is returned in the case of forming linear finishing face with scraper bowl top, operator needs to make swing arm, dipper, scraper bowl It is driven compoundly to make the track on scraper bowl top become linear, therefore masterful technique is required to operator.

Then, executing agency's driving will automatically or semi-automatically be controlled by computer (controller) by, which having the function of, (claims For Mechanical course (machine control)) edge (when dipper or dipper motion) suitable for digging operation and when excavation acts The technology that target face makes the top of scraper bowl move.As this technology, known in the excavation action operated based on operator Automatically control swing arm cylinder suitably to apply swing arm lifting action and scraper bowl apical position is limited in the technology in target face.

The shape of target face is not limited to be set to independent plane, it may have conjointly sets the feelings of multiple target faces Condition.In patent document 1, following technology is recorded:In the line that the target shape of digging operation is defined at least one by 2 points Section and when being defined, the top of apparatus for work and provide in multiple points of at least one line segment some it is close when, with The mode for reducing the action of at least one of multiple hydraulic actuating mechanisms hydraulic actuating mechanism is modified operation signal.

Existing technical literature

Patent document

Patent document 1:Japanese Unexamined Patent Publication 2016-3442 bulletins

Invention content

In patent document 1, the control object of working rig is set as working rig top.Also, according to definition target face (line Section) one of point working rig is slowed down at a distance from working rig top.

But according to the posture of the scraper bowl as working rig top, exist be not scraper bowl top (crown) but scraper bowl On other points (such as scraper bowl rear end in bucket floor portion as the point with scraper bowl top opposite side) most connect with target face Close situation.It can not carry out appropriate control with the technology of patent document 1 in this case, and this other point (such as after scraper bowl End) it is possible to invade to target face.

The purpose of the present invention is to provide a kind of with multiple target faces carries out the appropriate of working rig and subtracts The Work machine of speed control.

The application includes multiple schemes for solving the above subject, if enumerating one example, for a kind of Work machine, tool Have:The apparatus for work of joint type, multiple driven member are linked and are constituted, in the enterprising action of defined action plane Make;Multiple hydraulic actuating mechanisms respectively drive above-mentioned multiple driven member based on operation signal;Operating device, to The desired hydraulic actuating mechanism of operator in above-mentioned multiple hydraulic actuating mechanisms exports aforesaid operations signal;It is filled with control Set, in such a way that above-mentioned apparatus for work is acted in the target face of control object and its in the region of top, execute to At least one of above-mentioned multiple hydraulic actuating mechanisms hydraulic actuating mechanism exports aforesaid operations signal or above-mentioned to being output to The region limitation control that the aforesaid operations signal of at least one of multiple hydraulic actuating mechanisms hydraulic actuating mechanism is modified, In above-mentioned Work machine, above-mentioned control device has:Storage device is stored in above-mentioned action plane with different angle Connection and can become above-mentioned control object target face two lines section, as above-mentioned two lines section intersection point inflection point upper State the 1st datum mark and the 2nd datum mark of the position in action plane and the tip portion setting in above-mentioned apparatus for work;Position Operational part calculates above-mentioned 1st datum mark and above-mentioned 2nd datum mark in above-mentioned action based on the posture of above-mentioned apparatus for work Position in plane;And the 1st distance calculating unit, calculate separately out from above-mentioned action plane above-mentioned 1st datum mark and Distance until above-mentioned 2nd datum mark to the target face of above-mentioned control object, above-mentioned control device from above-mentioned 1st datum mark and When the distance of the smaller side in distance until above-mentioned 2nd datum mark to the target face of above-mentioned control object is threshold value or less, The operation signal exported from aforesaid operations device is reduced with the movement speed of the hydraulic actuating mechanism of the object of the operation signal Mode be modified.

Invention effect

According to the present invention, it can also implement appropriate deceleration control with multiple target faces, to prevent Intrusion of the working rig to target face.

Description of the drawings

Fig. 1 be by the digging control device of the hydraulic crawler excavator of embodiments of the present invention together with its fluid pressure drive device The figure shown.

Fig. 2 is the figure for indicating to be applicable in the appearance of the hydraulic crawler excavator of the present invention.

Fig. 3 is the functional block diagram for the control function for indicating control unit.

Fig. 4 is the definition graph of the operation for the position of preceding apparatus for work 1A, posture.

Fig. 5 is the figure for indicating to control relationships of the limits value a of spot speed between the boundary L distances D away from setting regions.

Fig. 6 is the hardware structure diagram of control unit.

Fig. 7 is the figure for an example for indicating scraper bowl and the position relationship of inflection point.

Fig. 8 is the figure for an example for indicating scraper bowl and the position relationship of inflection point.

Fig. 9 is the flow chart based on the dipper cylinder target velocity operational part 9z deceleration processing carried out.

Figure 10 is the concept map of target face angle.

Figure 11 is the figure for an example for indicating the distance away from inflection point and the relationship between moderating ratio.

Figure 12 is the figure for an example for indicating the distance away from inflection point and the relationship between moderating ratio.

Figure 13 is the figure for indicating the angle variable quantity at inflection point and an example of the relationship between moderating ratio.

Figure 14 is the figure for indicating the angle variable quantity at inflection point and an example of the relationship between moderating ratio.

Figure 15 is the functional block diagram for the control function for indicating dipper cylinder target velocity operational part 9z.

Figure 16 is to indicate to be based on swing arm relative to the position of target face and the combination of vertical component by by each control point Control spot speed the different figures of vertical component c.

Figure 17 is to indicate to set in such a way that upper limit value La in the range of being less than distance R1 near inflection point is smaller than limits value a The figure of an example in the case of moderating ratio K is determined.

Specific implementation mode

Attached drawing used below illustrates embodiments of the present invention.In addition, the top as working rig illustrated below is attached Belong to device and the hydraulic crawler excavator with scraper bowl 1c, but it can also be in the hydraulic crawler excavator with the auxiliary equipment other than scraper bowl It is applicable in the present invention.As long as moreover, with multiple driven member are linked and constitutes and is carried out in defined action plane The machinery of the joint type apparatus for work of action, the then Work machine that can be also suitable for other than hydraulic crawler excavator.

In addition, in the following description, there are multiple identical structural elements, sometimes to reference numeral The end mark letter of (number), but can also omit the letter sometimes and the multiple structural element of unified presentation.For example, existing It is sometimes pump 300 by their unified presentations when three pump 300a, 300b, 300c.

In Fig. 1, the hydraulic crawler excavator for being applicable in the present invention has:Hydraulic pump 2;Multiple hydraulic actuating mechanisms, it includes logical Cross the working oil from the hydraulic pump 2 and driven swing arm cylinder 3a, dipper cylinder 3b, scraper bowl cylinder 3c, rotation motor 3d and left and right Driving motors 3e, 3f;Multiple function lever apparatus (operating device) 4a~4f distinguish with these hydraulic actuating mechanisms 3a~3f Correspondingly it is arranged;Multiple flow control valve 5a~5f, be connected to hydraulic pump 2 and multiple hydraulic actuating mechanism 3a~3f it Between, it is controlled by the operation signal correspondingly exported with the operating quantity of function lever apparatus 4a~4f and operation direction, to Control the flow to hydraulic actuating mechanism 3a~3f working oils supplied and direction;With overflow valve 6, in hydraulic pump 2 and flow Pressure between control valve 5a~5f is opened in the case of becoming setting value or more, they constitute hydraulic crawler excavator The fluid pressure drive device of driven member.

As shown in Fig. 2, hydraulic crawler excavator is made of the preceding apparatus for work 1A and vehicle body 1B of joint type, wherein joint type Preceding apparatus for work 1A by the multiple driven member rotated respectively in vertical direction (swing arm 1a, dipper 1b and scraper bowl 1c) even It ties and constitutes, vehicle body 1B is made of upper rotating body 1d and lower traveling body 1e, the cardinal extremity branch of the swing arm 1a of preceding apparatus for work 1A It holds in the front of upper rotating body 1d.Swing arm 1a, dipper 1b, scraper bowl 1c, upper rotating body 1d and lower traveling body 1e distinguish structure It is driven separately at by swing arm cylinder 3a, dipper cylinder 3b, scraper bowl cylinder 3c, rotation motor 3d and driving motors 3e, 3f of left and right Driven member.

Swing arm 1a, dipper 1b and scraper bowl 1c are acted in the plane orthogonal with preceding apparatus for work 1A in the direction of the width, below The case where in the presence of the plane is known as action plane.Action plane is orthogonal with the rotation axis of swing arm 1a, dipper 1b and scraper bowl 1c Plane, the center of the width direction of swing arm 1a, dipper 1b and scraper bowl 1c can be set in.

Swing arm cylinder 3a, dipper cylinder 3b, scraper bowl cylinder 3c, rotation motor 3d and the action of driving motors 3e, 3f of left and right pass through It is input to the operation signal (first pilot) of hydraulic-driven portion 50a~55b of flow control valve 5a~5f and is instructed to, wherein the stream Control valve 5a~5f is controlled to the direction of each executing agency 3a, 3b, 3c, 3d, 3e, 3f working oil supplied and flow.Operation Signal has the signal exported via function lever apparatus 4a~4f and is exported from pioneer pump 43 via electromagnetic proportional valve 10a Signal.

In addition, function lever apparatus 4a~4f is hydraulic pilot mode, respectively by with the operation that is operated by operator The operating quantity of bar 4a~4f accordingly first pilot as operation signal, via pilot line 44a~49b to operate direction phase Hydraulic-driven portion 50a~55b of corresponding flow control valve 5a~5f is supplied, and drives these flow control valves.

The control system of the dredge operation with auxiliary operator in the hydraulic crawler excavator of the present embodiment.Specifically, With following excavation control apparatus:Having input dredge operation via function lever apparatus 4b, 4c, (specifically dipper is received Return, the instruction that scraper bowl shovel dress or scraper bowl unload) in the case of, the control point based on the tip portion for being set in working rig 1A and mesh The position relationship in mark face is maintained in target face with the position at control point and its in upper area without invading target face The mode of lower section, executing makes at least one control forcibly acted of hydraulic actuating mechanism 3a, 3b, 3c (such as elongation is dynamic Arm cylinder 3a and forcibly carry out swing arm lifting action).Exist in the present specification and is known as the control " region limitation control " Or the case where " Mechanical course ".Prevent control point from invading below target face by the control, thus no matter the skill of operator How energy degree can carry out the excavation along target face.

In the present embodiment, the control point for being involved in region limitation control is set in as shown in Figure 7 by scraper bowl On the line segment (being known as " control line ") that the top P1 of 1c is connected with rear end Q1.And in present embodiment, as in control line It is upper setting control point rule, in the case where control line be in the top of target face by the control line away from target face recently Point is set as control point, intersects with target face in control line or lower section in target face in the case of will invade target on control line The most deep point in face is set as control point.Therefore, scraper bowl rear end Q1 becomes control point in the example of fig. 7.As long as in addition, control line by Included in the profile of the cross sectional shape of the tip portion (such as scraper bowl 1c) of the working rig 1A based on action plane, then also can Line segment other than being illustrated in selection Fig. 7.In addition, it is not restricted to the rule for setting control point on the control line, such as Being configured to operator can arbitrarily select from control line.

Excavation control apparatus for region limitation control has:Region limit switch 7, setting are driving indoor behaviour Make top of panel etc. will not cover operator the visual field position and it is Zone switched limitation control enabledisable;Storage device (such as ROM) 93 is stored with the letter of the target shape of the excavation object set comprising multiple target faces (line segment) are connected Breath (target shape information), in order to form the target shape and region that the control point of apparatus for work 1A should act (there is also Referred to as " setting regions " the case where) including various information;Angle detector 8a, 8b, 8c, be located at swing arm 1a, dipper 1b and On the respective rotating fulcrums of scraper bowl 1c, detected respective as position and the relevant quantity of state of posture with preceding apparatus for work 1A Angle of rotation;And angle detector 8d is tilted, on front-rear directions of the detection vehicle body 1B relative to reference plane (such as horizontal plane) Inclination angle.

In addition, the excavation control apparatus involved by present embodiment has:Pressure detector 60a, 60b, are located at swing arm On pilot line 44a, 44b of the function lever apparatus 4a of 1a, first pilot (behaviour is detected as the operating quantity of function lever apparatus 4a Make signal);Pressure detector 61a, 61b are located on pilot line 45a, 45b of the function lever apparatus 4b of dipper 1b, are made First pilot (operation signal) is detected for the operating quantity of function lever apparatus 4b;With pressure detector 62a, 62b, it is located at scraper bowl 1c On pilot line 46a, 46b of function lever apparatus 4c, (the operation of first pilot is detected as the operating quantity of function lever apparatus 4c Signal).

Moreover, the excavation control apparatus involved by present embodiment has:Electromagnetic proportional valve 10a, a port side with Pioneer pump 43 is connected and will be exported after the first pilot decompression from pioneer pump 43 according to electric signal;Shuttle valve (shuttle Valve) 12, connect with the secondary port side of the pilot line 44a and electromagnetic proportional valve 10a of the function lever apparatus 4a of swing arm 1a It connects, the high-pressure side in selecting the first pilot in pilot line 44a and the control pressure that is exported from electromagnetic proportional valve 10a, by it to stream The hydraulic-driven portion 50a of control valve 5a is guided;The function lever apparatus 4a in swing arm 1a is arranged in electromagnetic proportional valve 10b On pilot line 44b, it will be exported after the first pilot decompression in pilot line 44b according to electric signal;Electromagnetic proportional valve 11a, It is arranged on the pilot line 45a of the function lever apparatus 4b of dipper 1b, according to electric signal by the guide in pilot line 45a It is exported after pressure decompression;Electromagnetic proportional valve 11b is arranged on the pilot line 45b of the function lever apparatus 4b of dipper 1b, according to Electric signal and by pilot line 45b first pilot decompression after export;The behaviour in scraper bowl 1c is arranged in electromagnetic proportional valve 13a Make on the pilot line 46a of lever apparatus 4c, will be exported after the first pilot decompression in pilot line 46a according to electric signal;And electricity Magnetic proportioning valve 13b is arranged on the pilot line 46b of the function lever apparatus 4c of scraper bowl 1c, according to electric signal by guide It is exported after first pilot decompression in pipeline 46b.

In addition, the excavation control apparatus involved by present embodiment has the control unit (control device) as computer 9, target shape information of the control unit 9 input in the storage of storage device 93, angle detector 8a, 8b, 8c and inclination angle The detection signal of detector 8d and the detection signal of pressure detector 60a, 60b, 61a, 61b, 62a, 62b, set to target In multiple target faces that shape is defined and the region above them i.e. setting regions, and operation signal (guide will be carried out Pressure) modified electric signal exported to electromagnetic proportional valve 10a, 10b, 11a, 11b, 13a, 13b, the wherein operation signal (guide Press) it is limited in the control of the excavation in setting regions (region for the actuating range into the control point for being about to working rig tip portion Limitation control).

In addition, also will produce the electromagnetic proportional valve 10a and shuttle of first pilot in the case where function lever apparatus 4a is without operating The structure of shape guiding valve 12 is provided only on pilot line 44a, but can also be related to swing arm cylinder 3a, dipper cylinder 3b and scraper bowl cylinder Electromagnetic proportional valve and shuttle valve are set on other pilot lines 44b, 45,46 of 3c to generate first pilot.In addition, for guide Pipeline 44a can also set elder generation that is identical with the electromagnetic proportional valve 10b of pilot line 44b, will being exported from function lever apparatus 4a The electromagnetic proportional valve of pilot decompression.

The hardware configuration of control unit 9 is shown in Fig. 6.Control unit 9 has:Input unit 91, the center as processor Processing unit (CPU) 92, the read-only memory (ROM) 93 as storage device and random access memory (RAM) 94 and output Portion 95.Input unit 91 is inputted from the pressure sensor being detected to the pressure generated by the operation of function lever apparatus 4 60,61,62 signal, the signal from the setting device 51 for setting target face, from angular transducer 8a~8c and incline The signal of angled sensors 8d carries out A/D conversions.ROM93 is the control program being stored with for executing aftermentioned flow and holds The recording medium of the row flow required various information etc., CPU92 is in accordance with the control program being stored in ROM93 and to from defeated Enter portion 91 and signal that memory 93,94 is taken into carry out as defined in calculation process.Output section 95 generates and the operation knot in CPU92 Fruit output signal accordingly, which is exported to electromagnetic proportional valve 10,11,13 and device for informing 53, is thus driven, is controlled Hydraulic actuating mechanism 3a, 3b, 3c or the image for making vehicle body 1B, scraper bowl 1c and target face etc. are shown to as device for informing 53 On the display picture of monitor.In addition, the control unit 9 of Fig. 6 has ROM93 and RAM94 such half as storage device Conductor memory but as long as can be substituted for storage device, such as can also have the magnetic memory apparatus such as hard disk drive.

The control function of control unit 9 is shown in Fig. 3.Control unit 9 has:Preceding posture operational part 9a, region setting fortune Calculation portion 9b, control spot speed vertical component limits value operational part 9c, based on operator operation dipper cylinder velocity arithmetic portion 9d, Control point velocity arithmetic portion 9e based on dipper, the control spot speed based on swing arm vertical component operational part 9f, based on machinery Switch operation portion 9r, the swing arm that the swing arm cylinder velocity arithmetic portion 9g of control, swing arm elder generation pilot operational part 9h, region limitation control refer to Enable that operational part 9i, dipper elder generation pilot operational part 9j, dipper ordering calculation portion 9k and dipper cylinder target velocity operational part 9z's is each Function.

In the present specification, exist and claim function 9c, 9d, 9e, 9f, 9g, 9h, 9j, 9r, 9z that dotted line in Fig. 3 is surrounded For " operation control part 900 " the case where.Also, exists and instruct the swing arm that single dotted broken line is surrounded in the operation control part 900 Operational part 9i and dipper ordering calculation portion 9k is known as the case where " electromagnetic proportional valve control unit 910 ".

In preceding posture operational part 9a, based on the swing arm detected by angle detector 8a~8c and inclination angle detector 8d The front and back inclination angle of 1a, dipper 1b, the angle of rotation of scraper bowl 1c and vehicle body 1B, position and posture to preceding apparatus for work 1A carry out Operation.Illustrate one example by Fig. 4.This is the position of crown (top) P1 of the scraper bowl 1c of apparatus for work 1A before calculating The case where setting.By the position of apparatus for work 1A and posture before operation, operation also is carried out to the position of control line and posture.This Outside, herein to simplify the explanation, do not consider the detected value of inclination angle detector 8d.

In Fig. 4, each section ruler of apparatus for work 1A and vehicle body 1B before being stored in the storage device 93 of control unit 9 It is very little, angle of rotation α, β, the γ's detected using these data and by angle detector 8a, 8b, 8c in preceding posture operational part 9a Each value calculates the position of scraper bowl top P1.The position of P1 is as example using the rotating fulcrum of swing arm 1a as the XY of origin seats at this time It marks the coordinate value (X, Y) of system and finds out.The XY coordinate systems are to be in the orthogonal coordinate system being fixed in the vertical plane of vehicle body 1B, energy Enough it is set in action plane.If the distance between the rotating fulcrum of the rotating fulcrum of swing arm 1a and dipper 1b is set as L1, is incited somebody to action The rotating fulcrum of dipper 1b and the distance between the rotating fulcrum of scraper bowl 1c are set as L2, by the rotating fulcrum of scraper bowl 1c and scraper bowl 1c The distance between top be set as L3, then find out XY coordinates according to angle of rotation α, β, γ and by following formula (1) and formula (2) The coordinate value (X, Y) of system.

X=L1sin α+L2sin (alpha+beta)+L3sin (alpha+beta+γ) ... (1)

Y=L1cos α+L2cos (alpha+beta)+L3cos (alpha+beta+γ) ... (2)

In the setting operational part 9b of region, setting regions is carried out based on the target shape information obtained from storage device 93 Setting operation.Target shape information be with slave arm 1a, dipper 1b and scraper bowl 1c centrally through vertical plane on it is continuous A plurality of line segment to shape (the target shape of excavation object that can be final as obtained from the digging operation of preceding apparatus for work 1A Shape) information that is defined.Each line segment in a plurality of line segment is also referred to as target face, is advised by two points with coordinate information It is fixed.The angle of two adjacent target faces (line segment) must be different in the present embodiment, the target at the endpoint of each target face The angle in face changes.Therefore, the case where endpoint of each target face is known as " inflection point " is existed below.In addition it is also possible to will The target face of equal angular links to define target shape.

As the acquisition methods of target shape information, such as at the scene by each line segment on the basis of crown of scraper bowl 1c etc. Point is input in action plane, thus defines target shape, alternatively, with polygon definition target shape (such as inclined surface Shape) 3D shape three-dimensional construction drawing in, slave arm 1a, dipper 1b and scraper bowl 1c centrally through vertical plane in Cut off the 3D shape, and will be based on including that the obtained shape of the continuous a plurality of line segment on the section is defined as target shape Shape.

In the present embodiment, the selection one from the multiple target faces (line segment) for defining target shape in accordance with defined rule The region of the target face (control object face) of a control object, in the target face of the control object and its top becomes setting area Domain.Exist below the case where straight line of the target face comprising control object is known as " boundary L ".

First, boundary L is provided by the straight line equation being set in the XY coordinate systems in engineering machinery.Moreover, in necessity In the case of, it can also be converted into sitting with origin and using the straight line as the orthogonal coordinate system XaYa of an axis on this line Straight line equation in mark system.At this point, finding out the change data from XY coordinate systems to XaYa coordinate systems.In addition, the life of boundary L At, selection be not limited to the above method, various methods can be used.If enumerating one example, have attached from three-dimensional construction The section (target shape) of figure, which is retrieved, to be had the line segment of identical X-coordinate with scraper bowl top (P1) in XY coordinate systems and will include The method that the straight line of line segment involved by the retrieval result is set as boundary L.

In the vertical component limits value operational part 9c of control spot speed, first, the position based on control line and target face Relationship determines control point on the control line.The determination at control point is in the top of target face as already mentioned, in control line In the case of point nearest away from target face on the control line is set as control point, intersect or be in target with target face in control line The most deep point (the farthest point away from target face) of target face will be invaded in the case of the lower section in face on control line and is set as control point.And And control the vertical component limits value operational part 9c of spot speed based on control line control point and the distance between boundary L D, Calculate the limits value a of the ingredient vertical with boundary L of control spot speed.It is previously stored in the storage device 93 of control unit 9 The relationship between limits value a and distance D as shown in Figure 5 reads the calculating of progress limits value a after the relationship.

In Figure 5, horizontal axis shows the distance between control point and boundary L D, the longitudinal axis control spot speed is shown with boundary L The limits value a of vertical ingredient, the distance D of horizontal axis and the limits value a of the longitudinal axis respectively will be outside setting regions towards setting regions Interior direction is set as (+) direction.Relationship between distance D and limits value a determines as described below:It is in setting at control point When in region, the speed in (-) direction directly proportional to distance D is set as to the ingredient vertical with boundary L of control spot speed The speed in (+) direction directly proportional to distance D is set as control spot speed by limits value a when control point is in outside region The limits value a of the ingredient vertical with boundary L.

In the dipper cylinder velocity arithmetic portion 9d operated based on operator, detected according to by pressure detector 61a, 61b The command value (first pilot (operation signal)) and flow control valve 5b from dipper to flow control valve 5b discharge characteristic etc., To estimate the dipper cylinder speed operated based on operator.From operating lever according to the dipper cylinder speed operated namely based on operator The dipper cylinder speed of operation signal (first pilot) presumption of device 4b outputs.

In dipper cylinder target velocity operational part 9z, sent out in order to prevent when the target face (boundary L) of control object changes Raw excessive excavation or empty digging, and the rear end the (the 2nd of top (the 1st datum mark) P1, scraper bowl based on scraper bowl as being illustrated in Fig. 7 Datum mark) Q1 and control object target face A inflection point C between position relationship, by the processing of aftermentioned Fig. 9 to dipper cylinder Target velocity carries out operation.Dipper cylinder target velocity is after being applied with deceleration amendment to the dipper cylinder speed operated based on operator Speed, with whether there is or not slowing down to correct and slow down modified size correspondingly, become the dipper cylinder speed that is operated based on operator with Under value.

In the figure 7, the top P1 for making scraper bowl is projected into the point obtained in (orthographic projection) to target face A and is set as subpoint P2, The rear end Q1 for making scraper bowl is projected into the point obtained in (orthographic projection) to target face and is set as subpoint Q2.PC2 is inflection point C and scraper bowl top The distance between the subpoint P2 at end, QC2 are the distance between the subpoint Q2 of inflection point C and scraper bowl rear end.In scraper bowl 1c to arrow In the situation of Fig. 7 of the direction movement of head M, the target face as control object is A, becomes the target face of next control object (there is also " next target face " is known as) is B.Furthermore it is possible to be predicted according to the moving direction (velocity vector) of scraper bowl 1c Next the target face for becoming control object, can be according to the moving direction M of from the input prediction scraper bowl 1c to function lever apparatus 4.

On the other hand, show scraper bowl 1c across inflection point C and the situation in the case of fetch bit in Fig. 8.At this point, also by target face A will make scraper bowl top P1 and rear end Q1 project to the point obtained on target face A respectively and be set as P2, Q2 as control object.And And the distance respectively away from inflection point C is set as PC2, QC2.

The control function of dipper cylinder target velocity operational part 9z is shown in Figure 15.Dipper cylinder target velocity operational part 9z has Position operational part 21, velocity arithmetic portion 23, projected position operational part 24, the 2nd distance calculating unit 25, is sentenced the 1st distance calculating unit 22 Determine each function of portion 26, angle variable quantity operational part 27 and amount of deceleration operational part 28.

In the ROM93 as storage device, it is stored in action plane (on X/Y plane) and connects at different angles And two target face (line segment) A, B and the intersection point as two target faces A, B that the target face of control object can be become Positions of the inflection point C in action plane (X/Y plane).Moreover, the surface as the tip portion for being set in apparatus for work 1A in advance On two datum marks (the 1st datum mark and the 2nd datum mark), be stored with the top P1 the (the 1st on the surface of scraper bowl 1c shown in Fig. 7 Datum mark) and rear end Q1 (the 2nd datum mark).

Position operational part 21 is calculated based on the posture of the preceding apparatus for work 1A calculated by preceding posture operational part 9a The part of the position (coordinate) of the 1st datum mark P1 and above-mentioned 2nd datum mark Q1 in action plane.

1st distance calculating unit 22 is operation result based on position operational part 21 and the control object being stored in ROM93 Positions of the target face A in action plane calculate separately out from the 1st datum mark P1 and the 2nd datum mark Q1 in action plane The part of distance PC1, QC1 until the target face A of control object.It herein will be until the 1st datum mark P1 to target face A Distance is set as PC1, and the distance until the 2nd datum mark Q1 to target face A is set as QC1.

Velocity arithmetic portion 23 is based on the operation result of the 1st distance calculating unit 22 and amount of deceleration operational part 28 come to dipper cylinder Target velocity carries out the part of operation.Velocity arithmetic portion 23 determines that whether there is or not subtract based on the operation result of the 1st distance calculating unit 22 Speed determines degree of deceleration in the case where there is deceleration based on the operation result of amount of deceleration operational part 28.Whether there is or not the determinations of deceleration Based on by 22 calculated distance and rule until the 1st datum mark P1 and the 2nd datum mark Q1 to inflection point C of the 1st distance calculating unit The size for determining threshold value relatively carries out.Specifically, the distance of a smaller side in two distances be the defined threshold with Slowed down (that is, make dipper cylinder target velocity be the value smaller than the dipper cylinder speed operated based on operator) when lower, this away from Without deceleration (that is, making the dipper cylinder speed phase that dipper cylinder target velocity is and is operated based on operator when from more than the threshold value Same value).Operation about amount of deceleration operational part 28 will be described later.

Projected position operational part 24 is to calculate the mesh that the 1st datum mark P1 and the 2nd datum mark Q1 are projected to control object The part of the position of two subpoints P2, Q2 in action plane obtained from the A of mark face.It can suitably change and control two Point P1, Q1 project to the angle in the target face of control object, but in the present embodiment, will make the 1st datum mark P1 and the 2nd base The point obtained in Q1 orthographic projections on schedule (rectangular projection) to the target face of control object is set as subpoint.

2nd distance calculating unit 25 is the position of operation result and inflection point C based on projected position operational part 24 to count respectively Calculate the part of distance PC2, QC2 until the position to inflection point C of two subpoints P2, Q2 on perspective plane.2nd distance fortune A smaller side in calculated two distances PC2, QC2 is output to amount of deceleration operational part 28 by calculation portion 25.

Determination unit 26 is to judge inflection point C on the face of projection objects and its on extended line (i.e. on the target face A of control object And its on extended line) with the presence or absence of the part between two subpoints P2, Q2.For example, in the state of Fig. 8, inflection point C is in target It is present on the A of face and its on extended line between two subpoints P2, Q2, the result of the judgement is "Yes", in the state of Fig. 7, is turned Point C is not present between two subpoints P2, Q2, therefore the result of the judgement is "No".Determination unit 26 will judge result output To amount of deceleration operational part 28.

Angle variable quantity operational part 27 is the target for the target face (being in the case of fig. 7 target face A) for taking control object The difference of face angle, θ 1 and the target face angle, θ 2 of the target face (being in the case of fig. 7 target face B) of next control object And the part of the absolute value of the difference is calculated as angle variable quantity.The concept map of angle variable quantity is shown in Figure 10.Mesh Angle (target face angle) θ 1, the θ 2 in mark face are opposite as the coordinate (such as X/Y plane as action plane) as benchmark It is provided in the gradient of trunnion axis.Angle variable quantity is the target face angle, θ 1 of control object and next control object The absolute value of the difference of target face angle, θ 2.The operation result of angle variable quantity is output to deceleration by angle variable quantity operational part 27 Measure operational part 28.

Amount of deceleration operational part 28 is based on the 2nd distance calculating unit 25, the fortune of determination unit 26 and angle variable quantity operational part 27 Calculate result etc. come operation the dipper cylinder speed operated based on operator is applied slow down it is modified in the case of amount of deceleration (what applies The modified index of deceleration of kind of degree) part.The details of amount of deceleration operational part 28 is illustrated in Figure 9.

Fig. 9 is the flow based on the dipper cylinder target velocity operational part 9z deceleration processing carried out.

First, projected position operational part 24 in a step 101, is based on by 21 calculated scraper bowl top P1 of position operational part And the position of scraper bowl rear end Q1, these P1, Q1 are projected on the target face A (perspective plane) of control object, acquisition subpoint P2, Q2.Also inflection point C is projected in the case of inflection point C is not present on the projection surface at this time.

In a step 102, determination unit 26 judges that inflection point C is whether between two subpoints P2, Q2 on the projection surface. In the case of judging into inflection point C between two subpoints P2, Q2 (such as in the case of Fig. 8), 103 are entered step.In step In rapid 103, the distance between inflection point C and scraper bowl 1c are set as zero by amount of deceleration operational part 28, and are saved it in ROM93.

On the other hand, in a step 102, judging into the case where inflection point C is not present between two subpoints P2, Q2 Under, enter step 104.At step 104, amount of deceleration operational part 28 will be calculated from two throwings by the 2nd distance calculating unit 25 The smaller side of distance in distance PC2, QC2 (with reference to Fig. 7,8) until shadow point P2, Q2 to inflection point C is as inflection point C and scraper bowl The distance between 1c and preserve.

In step 105, the target face angle, θ 1 of control object when angle variable quantity operational part 27 takes flow to execute, with The difference of the target face angle, θ 2 of next control object is preserved its absolute value as angle variable quantity.

Judge in step 106 in the coordinate system of action plane, the line that scraper bowl top P1 and scraper bowl rear end Q1 is linked Position closest to target face A in section (there is the case where line segment (control line) is known as " bucket floor ") and target face A The distance between whether be threshold value T1 or less.In the present embodiment when implementing the judgement, the 1st distance calculating unit 22 calculates Distance PC1, QC1 until two datum mark P1, P2 to target face A, velocity arithmetic portion 23 judge smaller by one in PC1, QC1 Whether side is threshold value T1 or less.113 are entered step in the case where distance is more than threshold value T1, without because causing close to inflection point C Deceleration.The smaller side in two distances PC1, QC1 is that threshold value T1 is below in step 106, is entered step 107。

In step 107, amount of deceleration operational part 28 using the inflection point C that is determined in step 103 or 104 and scraper bowl 1c it Between distance (i.e. zero or PC2 and QC2 in a smaller side) and provide the function of the relationship between the distance and moderating ratio, Come determine the dipper cylinder speed that is operated based on operator is applied slow down it is modified in the case of moderating ratio (distance coefficient Kd). Distance coefficient Kd is the value for being less than or equal to 1 more than 0.As the function, slow down for sufficient, preferably by distance coefficient The function (referring for example to the function of Figure 12) of the reduction of Kd and distance correspondingly reduction, but can also be disobeyed using distance coefficient Kd The function constant without exception according to distance (referring for example to the function of Figure 11).In addition, the former function is not limited to shown in Figure 12 Function can utilize stair-stepping function, curvilinear function, the reduction ratio of the distance coefficient Kd increase with distance reduction The various functions such as function.

Especially, in step 107, it is between scraper bowl top and scraper bowl rear end when judging into inflection point in a step 102 In the case of, since the distance between inflection point C and scraper bowl 1c become zero, so in the top P1 of scraper bowl and the rear end Q1 of scraper bowl Some pass through from inflection point C before, the deceleration continuous action based on inflection point C.That is, in the function that the former is utilized In the case of, in the case where the distance is zero the deceleration based on distance become maximum, scraper bowl from inflection point by front reduction gear at For maximum, therefore it is more than target face that can prevent scraper bowl 1c with being not intended to.

In step 108, at the inflection point C that amount of deceleration operational part 28 is calculated using predetermined angular change amount calculation unit 27 The function of relationship between angle variable quantity and moderating ratio is subtracted the dipper cylinder speed application operated based on operator to determine Moderating ratio (coefficient of angularity Ka) in the case of speed is modified.The function can also utilize function identical with step 107.That is, Such as the function (referring to Fig.1 4) or coefficient of angularity for increasing correspondingly reduction of coefficient of angularity Ka and angle variable quantity can be utilized Ka same constant functions (referring to Fig.1 3) not based on angle variable quantity.

In step 109, amount of deceleration operational part 28 is according to the distance coefficient Kd of step 107, the coefficient of angularity Ka of step 108 And following formula (3) calculates moderating ratio K, enters step S110.Moderating ratio K in the same manner as Kd and Ka for more than 0 be less than etc. In 1 value, then dipper cylinder speed limit value La is set smaller (change of that is slowing down to the more smaller value of these coefficients Greatly).

Moderating ratio K=1- (1- distance coefficient Kd) × (1- coefficient of angularity Ka) ... (3)

In step 110, velocity arithmetic portion 23 according to the dipper cylinder maximum speed being stored in storage device 93, in step Calculated moderating ratio K and following formula (4) in 109 enter step 111 to set dipper cylinder speed limit value La.

Dipper cylinder speed limit value La=dipper cylinders maximum speed × moderating ratio K ... (4)

In step 111, velocity arithmetic portion 23 judges to be found out by the dipper cylinder velocity arithmetic portion 9d operated based on operator Dipper cylinder speed whether be more than the dipper cylinder speed limit value La determined in step 110, in the feelings for being judged as being more than Condition, which judges into, to be needed to slow down, and enters step 112.

In step 112, velocity arithmetic portion 23 replaces the dipper cylinder speed found out by operational part 9d, will in step 110 Calculated dipper cylinder speed limit value La is set as dipper cylinder target velocity, ends processing.

On the other hand, the dipper cylinder speed operated based on operator is judged into step 111 is not above dipper cylinder speed In the case of spending upper limit value La, 113 are entered step as the judgement without the deceleration based on inflection point C, velocity arithmetic portion 23 The dipper cylinder speed found out by the dipper cylinder velocity arithmetic portion 9d operated based on operator is directly set as dipper cylinder target speed Degree, ends processing.

Dipper cylinder 3b is set to slow down according to the distance away from inflection point like this, thus, it is possible to only apply appropriate subtract if necessary Speed.That is, when there is no fear of intrusion target face, without unnecessary deceleration, and being capable of basis in the case where needing the situation slowed down The distance between angle variable quantity and inflection point implement appropriate deceleration for the top P1 and rear end Q1 both sides of scraper bowl 1c.

In addition it is also possible to the retarding method instead of above-mentioned formula (4) are utilized, and to being based on operating as following formula (5) The dipper cylinder speed of member's operation is directly multiplied by moderating ratio K to calculate dipper cylinder target velocity, thus slows down.In addition, Moderating ratio K can also be multiplied by the first pilot of dipper as following formula (6) and then secondary calculate is operated based on operator Dipper cylinder speed, thus slow down.

Dipper cylinder target velocity=dipper cylinder speed × moderating ratio K ... (5) based on operator's operation

Dipper target pilot pressure=dipper elder generation pilot × moderating ratio K ... (6)

In addition, counting with can either only considering the side in the distance coefficient Kd of step 107 and the coefficient of angularity Ka of step 108 Moderating ratio K is calculated, it also can be not based on distance and angle variable quantity and only using some in distance PC1, QC1 as threshold value T1 Specified value is set as final moderating ratio K by this condition below.

Calculate that reduce dipper cylinder maximum speed, the bucket that is operated based on operator alternatively, it is also possible to replace moderating ratio The amount of deceleration of bar cylinder speed or dipper elder generation pilot, and from dipper cylinder maximum speed, based on operator operation dipper cylinder speed or Dipper elder generation pilot subtracts the amount of deceleration, thus calculates dipper cylinder target velocity.

Back to Fig. 3, in the control point velocity arithmetic portion 9e based on dipper, according to by dipper cylinder target velocity operational part The dipper cylinder target velocity and the preceding apparatus for work 1A found out by preceding posture operational part 9a that 9z is found out with a series of processing of Fig. 9 Position and posture, operation is carried out to the control spot speed b based on dipper 1b.In addition, control spot speed b is vector value.

In the vertical component operational part 9f of the control spot speed based on swing arm, first according to the base found out by operational part 9e In the control spot speed b of dipper 1b, pair with the ingredient (X ingredients) of boundary L levels and vertical ingredient (Y ingredients) i.e. (bx, by) Carry out operation.Also, according to the upper and lower relation between the target face and control point of control object, the control spot speed based on dipper Vertical component by direction and control spot speed based on dipper vertical component by and limits value ay absolute value it is big It is small, to determine the desired value d for the vertical component for controlling spot speed, to realizing the control spot speed based on swing arm of desired value d Vertical component c carry out operation.Specifically, the operational part 9f of present embodiment is with dividing situation (a)-(d) as shown in figure 16 true Target value d, and operation is carried out to the vertical component c of the control spot speed based on swing arm accordingly.It will be illustrated next and be based on (a)- (d) operation of vertical component c.

(a) control point be in control object target face (there is also be known as " control object face " the case where) lower section, It, will and by the vertical component by of the operational part 9e control spot speed based on dipper calculated downwards in the case of ((-) direction) Limits value a (direction is upward) is adopted as desired value d.As a result, the vertical component c of the control spot speed based on swing arm becomes A-by (c=a-by).

(b) be at control point the vertical component by of the lower section in control object face and control spot speed based on dipper to It is in the case of upper ((+) direction), the absolute value in the vertical component by and limits value a of the control spot speed based on dipper is larger A side be adopted as desired value d.As a result, absolute values of the vertical component c of the control spot speed based on swing arm in limits value a Become a-by in the case of big, becomes zero in the case where the absolute value of vertical component by is big.

(c) be at control point the vertical component by of the top in control object face and control spot speed based on dipper to Under in the case of ((-) direction), the absolute value in the vertical component by and limits value a of the control spot speed based on dipper is smaller A side be adopted as desired value d.As a result, absolute values of the vertical component c of the control spot speed based on swing arm in limits value a Become a-by in the case of small, becomes zero in the case where the absolute value of vertical component by is small.

(d) be at control point the vertical component by of the top in control object face and control spot speed based on dipper to In the case of upper ((+) direction), the vertical component by (direction is upward) of the control spot speed based on dipper is adopted as desired value d.As a result, the vertical component c of the control spot speed based on swing arm becomes zero.

Also, due to the situation lower limit being in control point (being in most cases the crown of scraper bowl 1c) on control object face Value a processed becomes zero, and the vertical component for controlling spot speed is maintained as zero, if therefore for example making dipper 1b near control object face Withdrawal action is carried out, then can realize that the excavation along control object face acts by controlling the horizontal component of spot speed.

Back to Fig. 3, in the swing arm cylinder velocity arithmetic portion 9g based on Mechanical course, with the control spot speed based on swing arm 1a Based on the ingredient c vertical with boundary L of degree, the position of preceding apparatus for work 1A and posture etc., to the swing arm based on Mechanical course Cylinder speed carries out operation.

In swing arm elder generation pilot operational part 9h, the discharge characteristic of the flow control valve 5a based on swing arm 1a, find out with by transporting The corresponding swing arm elder generation pilot of swing arm cylinder speed that calculation portion 9g is found out.

In dipper elder generation pilot operational part 9j, the discharge characteristic of the flow control valve 5b based on dipper 1b is found out and by base In the corresponding dipper elder generation pilots of scraper bowl head velocity b based on dipper 1b that the control point velocity arithmetic portion 9e of dipper is found out.

In the switch operation portion 9r of region limitation control, in region, limit switch 7 has selected area for ON (being pressed) It, will be direct by the calculated values of operational part 9h as swing arm elder generation pilot in the case of the limitation control of domain (in the case of being licensed) It is output to swing arm ordering calculation portion 9i, will dipper be directly output to as dipper elder generation pilot by the calculated values of operational part 9j and referred to Enable operational part 9k.On the other hand, it is that OFF (not being pressed) is controlled without selection region limitation in region limit switch 7 In the case of (in the case of forbidden), from the first pilot detected by pressure detector 60a, 60b using the value of a larger side as Swing arm elder generation pilot is output to swing arm ordering calculation portion 9i, from the first pilot detected by pressure detector 61a, 61b by larger one The value of side is output to dipper ordering calculation portion 9k as dipper elder generation pilot.In addition, in output by detector 60b or detector 61b It is exported with negative value when the value detected.

In swing arm ordering calculation portion 9i, the first pilot of the switch operation portion 9r from region limitation control is inputted, at this Value is in the case of just, presses to the guide of the hydraulic-driven portion 50a of flow control valve 5a and is exported from switch operation portion 9r The mode of value export appropriate electric power to electromagnetic proportional valve 10a, thus correct first pilot, and to electromagnetic proportional valve 10b outputs zero Voltage and make the first pilot of the hydraulic-driven portion 50b of flow control valve 5a be zero.In addition, in the case where limits value is negative, with The guide of the hydraulic-driven portion 50b of flow control valve 5a presses to the mode of the value exported from switch operation portion 9r to electromagnetism ratio Example valve 10b exports appropriate electric power, thus corrects first pilot, and to swing arm be lifted side electromagnetic proportional valve 10a output no-voltages and It is zero to make the first pilot of the hydraulic-driven portion 50a of flow control valve 5a.

In dipper ordering calculation portion 9k, the first pilot of the switch operation portion 9r from region limitation control is inputted, at this Value is in the case of just, presses to the guide of the hydraulic-driven portion 51a of flow control valve 5b and is exported from switch operation portion 9r The mode of value export appropriate electric power to electromagnetic proportional valve 11a, thus correct first pilot, and to electromagnetic proportional valve 11b outputs zero Voltage and make the first pilot of the hydraulic-driven portion 51b of flow control valve 5b be zero.In addition, in the case where limits value is negative, with The guide of the hydraulic-driven portion 51b of flow control valve 5b presses to the mode of the value exported from switch operation portion 9r to electromagnetism ratio Example valve 11b exports appropriate electric power, thus corrects first pilot, releases the electromagnetic proportional valve 11b output no-voltages of side to dipper and makes The first pilot of the hydraulic-driven portion 51a of flow control valve 5a is zero.

The feature of the above embodiment will be illustrated next.

(1) in the above-described embodiment, a kind of Work machine (hydraulic crawler excavator) is provided, is had:The operation of joint type Multiple driven member (such as swing arm 1a, dipper 1b, scraper bowl 1c) are linked and are constituted by device (such as apparatus for work 1A), (such as on X/Y plane or in XaYa planes) is acted in defined action plane;Multiple hydraulic actuating mechanisms (such as it is dynamic Arm cylinder 3a, dipper cylinder 3b, scraper bowl cylinder 3c), above-mentioned multiple driven is respectively driven based on operation signal (such as first pilot) Component;Operating device (function lever apparatus 4), the desired hydraulic pressure of operator into above-mentioned multiple hydraulic actuating mechanisms execute Mechanism exports aforesaid operations signal;With operation control part 900 (control unit 9), with above-mentioned apparatus for work in control object The mode acted (in setting regions) (on target face A or on the L of boundary) and its in the region of top in target face, execute to At least one of above-mentioned multiple hydraulic actuating mechanisms hydraulic actuating mechanism exports aforesaid operations signal or above-mentioned to being output to The region limitation control that the aforesaid operations signal of at least one of multiple hydraulic actuating mechanisms hydraulic actuating mechanism is modified, In the Work machine (hydraulic crawler excavator), have:Storage device (such as ROM93 of control unit 9), is stored with above-mentioned In action plane with different angle connect and can become above-mentioned control object target face two lines section (target face A, B), Positions of the inflection point C of intersection point as above-mentioned two lines section in above-mentioned action plane and in the top end part of above-mentioned apparatus for work Divide the 1st datum mark P1 and the 2nd datum mark Q1 of the surface set of (scraper bowl 1c);Position operational part 21 (control unit 9), is based on The posture of above-mentioned apparatus for work 1A, to calculate the position of the 1st datum mark P1 and the 2nd datum mark Q1 in above-mentioned action plane; With the 1st distance calculating unit 22 (control unit 9), calculate separately out from the 1st datum mark P1 and the 2nd base in above-mentioned action plane Distance PC1, QC1 until Q1 to the target face of above-mentioned control object on schedule, operation control part 900 from the 1st datum mark P1 and The distance of a smaller side in distance PC1, QC1 until 2nd datum mark Q1 to the target face of above-mentioned control object is threshold value T1 When following, (such as struggled against with the hydraulic actuating mechanism of the object of the operation signal to the operation signal that is exported from aforesaid operations device Bar cylinder 3b) movement speed reduce mode be modified.

If for example, based on (such as scraper bowl is set in from a datum mark in the tip portion for being set in apparatus for work 1A Control point on the crown of 1c) distance until inflection point C judges whether dipper cylinder 3b needs to slow down, then it be not the benchmark Other points on the scraper bowl 1c of point may can not slow down in the case of having been approached with the target face of control object and scraper bowl 1c with Target face contacts or enters the lower section of target face.But if as in the present embodiment based on from being set in apparatus for work 1A Tip portion on two datum mark P1, Q1 to inflection point C until the size of distance PC1, QC1 whether judge dipper cylinder 3b It needs to slow down, then executes bucket in the case that the target face of some in two datum marks P1, Q1 and control object has approached The deceleration of bar cylinder 3b, therefore it is reliably prevented from intrusions of the apparatus for work 1A (control point) to target face.

In addition, the 1st datum mark and the 2nd datum mark can from scraper bowl 1c and its nearby (tip portion of apparatus for work 1A) Arbitrarily selection is adapted to determine that whether the tip portion of apparatus for work 1A has approached the point of target face on surface.That is, Can select the point other than scraper bowl top P1 and scraper bowl rear end Q1, for example, can also select scraper bowl 1c bottom surface P3 (with reference to Fig. 4), The most external P4 of dipper stick (with reference to Fig. 4).As long as in addition, for the point on the surface of the tip portion of apparatus for work 1A, then The datum mark that can select 3 points or more carries out the application based on the distance until each datum mark or its subpoint to inflection point Control.

(2) in addition, in the above-described embodiment, in the Work machine of above-mentioned (1), also having:Projected position operational part 24 (control units 9), calculate above-mentioned 1st datum mark P1 and above-mentioned 2nd datum mark Q1 projecting to above-mentioned control object The position of two subpoints P2, Q2 in above-mentioned action plane obtained from target face;With the 25 (control of the 2nd distance calculating unit Unit 9), calculate separately out until from the position of the above-mentioned two subpoint in above-mentioned action plane to above-mentioned inflection point C away from From PC2, QC2, hydraulic actuating mechanism (such as the dipper cylinder of the object of aforesaid operations signal is reduced in above-mentioned operation control part 900 In the case of above-mentioned movement speed 3b), pass through distance PC2, QC2 being set as until from above-mentioned two subpoint to above-mentioned inflection point In a smaller side the smaller then moderating ratio (Kd) of distance it is smaller, and the degree of the reduction is set to be large.

Here, with from the distance of the smaller side in distance PC1, QC1 until two datum mark P1, Q1 to target face A, It is compared with the distance of the smaller side in the distance until from P1, Q1 to inflection point C, until two subpoint P2, Q2 to inflection point C Distance PC2, QC2 in the distance of a smaller side become and indicate the appropriate of the scraper bowl 1c on target face A and the degree of approach of inflection point C Index also becomes the index for the degree of approach for indicating next target face B after inflection point C and scraper bowl 1c.If to prevent downward one Degree of deceleration is determined on the basis of distance PC1, QC1 for the purpose of the intrusion of target face B, then slowing down can be excessive, and is possible to Incongruity is brought to operator.But if deceleration journey is determined on the basis of distance PC2, QC2 as in the present embodiment Degree, then can determine degree of deceleration on the basis of the degree of approach of next target face B and scraper bowl 1c, therefore being capable of not excessive deceleration Prevent the intrusion to next target face B.The small situation of smaller value in smaller value ratio PC1, the QC1 of this structure in PC2, QC2 Under (such as in the case of Fig. 7) appropriate deceleration is executed, especially significant effect can be played.

In addition, the plane (perspective plane) of the projection destination of two datum marks P1, P2 and inflection point C need not object in order to control Target face, as long as identical relative to the position relationship on the straight line of inflection point C.For example, it is also possible to which control object will be made Target face has rotated the face after amount identical with its target face angle using centered on inflection point C as perspective plane.Alternatively, it is also possible to incite somebody to action The face after being moved in parallel together with target face A and inflection point C is set to be set as perspective plane.

(3) in addition, in the above-described embodiment, in the Work machine of above-mentioned (2), also having determination unit 26, (control is single 9), which judges that above-mentioned inflection point C is in the target face of above-mentioned control object and its on extended line to member No to be present between above-mentioned two subpoint P2, Q2, above-mentioned operation control part 900 is from above-mentioned 1st datum mark P1 and the above-mentioned 2nd When the distance of a smaller side in distance until datum mark Q1 to the target face of above-mentioned control object is above-mentioned threshold value T1 or less, And when being present between above-mentioned two subpoint P2, Q2 at above-mentioned inflection point C by the judgement of above-mentioned determination unit 26, believed with aforesaid operations Number the reduction degree of movement speed of hydraulic actuating mechanism (such as dipper cylinder 3b) of object be configured to the base in above-mentioned (2) The distance of a smaller side in distance PC2, QC2 and the maximum value of the reduction degree that sets (distance as zero when value) side Formula is modified the operation signal exported from aforesaid operations device.

In the case where above-mentioned inflection point C is present between above-mentioned two subpoint P2, Q2, it is predicted that scraper bowl 1c be present in The position that next target face is substantial access to, therefore make in this case based on distance PC2, QC2 in the present embodiment Degree of deceleration is maximum.Thus, it is possible to prevent the intrusion to next target face.In addition, in the above-described embodiment, illustrating to make The case where degree of deceleration is " maximum value ", but as long as by hydraulic actuating mechanism with based on the smaller side's in distance PC2, QC2 Distance and set degree of deceleration more than slow down, however it is not limited to " maximum value ", also can utilize more than " maximum value " value.

(4) in addition, in the above-described embodiment, in the Work machine of above-mentioned (3), also there is angle variable quantity operational part 27 (control units 9), the angle variable quantity operational part 27 (control unit 9) calculate the target of the target face of above-mentioned control object Absolute value, that is, angle variable quantity of difference between the target face angle, θ 2 of the target face of face angle, θ 1 and next control object, The above-mentioned dynamic of the hydraulic actuating mechanism (such as dipper cylinder 3b) of the object of aforesaid operations signal is reduced in above-mentioned operation control part 900 In the case of making speed, the degree that the degree of the reduction is set to the more big then reduction of above-mentioned angle variable quantity is bigger.

If being slowed down like this according to angle variable quantity, also can in the case that angle between target face is relatively steep It is enough that executing agency fully slows down, and scraper bowl 1c can be prevented to the intrusion of next target face.

< is attached >

In addition, the feelings being compared to the vertical component of upper limit value La and limits value a at the same position near inflection point C Under condition, preferably moderating ratio K is set in such a way that the vertical component of upper limit value La is smaller than limits value a.For example, Figure 17 be with The vertical component mode smaller than limits value a of upper limit value La in the range of being less than distance R1 near inflection point C sets deceleration The example (making coefficient of angularity Ka=0 to simplify the explanation) of COEFFICIENT K.It is attached in inflection point C when setting moderating ratio K like this Closely (range less than distance R1 in Figure 17) is slowed down scraper bowl 1c by the limitation control of common region, therefore in target mask Have it is multiple in the case of can also implement appropriate deceleration control, and intrusion of the working rig to target face can be prevented.

In addition, in the above-described embodiment, shovel is reduced by dipper cylinder 3b slows down when scraper bowl 1c is close to inflection point C Struggle against speed, but can also be instead of dipper cylinder 3b or in addition to dipper cylinder 3b, and swing arm cylinder 3a and/or scraper bowl cylinder 3c are subtracted Speed.

In addition, among the above, control unit 9 is illustrated as initiate point and (is forced dynamic to swing arm cylinder 3a output instruction elongations Arm be lifted) operation signal come carry out region limitation control so that apparatus for work 1A is in setting regions when dipper 1b is acted The case where action, but the shape for the operation signal being lifted from function lever apparatus 4a output instruction swing arms as initiate point in operator Under condition, the operation signal can also be modified by control unit 9, thus carries out region limitation control.In addition, above-mentioned In illustrate to be lifted by suitably applying in the dipper operation operated based on operator swing arm based on control unit 9 to carry out The case where region limitation control, but can also be lifted instead of the swing arm or suitably apply scraper bowl 1c's in addition to the swing arm is lifted Unloading/shovel dress controls to carry out region limitation.That is, in the limitation control of region, it is possible to carry out to undertaking operation dress At least one of flow control valve 5a, 5b, 5c of three kinds of hydraulic cylinders 3a, 3b, 3c of the action of 1A flow control valves are set to control Unit 9 processed for initiate point export operation signal control and to be output to by initiate point of operator three kinds of hydraulic cylinder 3a, The operation signal of at least one of flow control valve 5a, 5b, 5c of 3b, 3c flow control valves applies based on control unit 9 Modified control both sides, so that apparatus for work 1A is acted in setting regions.

In addition, region limitation control can also be configured to only play when the dipper for executing substantive excavation action is withdrawn Function.

In addition, angle detector 8a~8c is utilized for the position of apparatus for work 1A and posture before obtaining among the above, But can also instead of it and using the multiple stroke detectors for the path increment for detecting each hydraulic cylinder 3a~3c, detect swing arm respectively Multiple inclination angle detectors at the inclination angle of 1a, dipper 1b and scraper bowl 1c.

In addition, in the above-described embodiment, enumerating for the common hydraulic crawler excavator by Engine driven Hydraulic Pump And be illustrated, but for driving the hydraulic crawler excavator of the hybrid power type of hydraulic pump by engine and motor, only passing through Motor drives DYN dynamic hydraulic crawler excavator of hydraulic pump etc., and the present invention can also be applied certainly.

Alternatively, it is also possible to be the structure with satellite communication antena, operation is carried out to the global coordinates of excavator to carry out Region limitation control.

In addition, the present invention is not limited to the above embodiment, the various changes in the range of not departing from its main idea Shape example.Also include to delete this for example, the present invention is not limited to all structures illustrated in the above-described embodiment The mode of a part for structure.

Reference sign

The preceding apparatus for work of 1A ..., 1B ... vehicle bodies, 1a ... swing arms, 1b ... dippers, 1c ... scraper bowls, 2 ... hydraulic pumps, 3a ... swing arms Cylinder (hydraulic actuating mechanism), 3b ... dipper cylinders (hydraulic actuating mechanism), 4a~4f, 14a~14f ... function lever apparatus (operation dress Set), 5a~5f, 15a~15f ... flow control valves, 7 ... region limit switches, 8a~8c ... angle detectors, the inclinations angle 8d ... Detector, 9 ... control units, the preceding posture operational parts of 9a ..., the regions 9b ... set operational part, 9c ... control spot speed it is vertical at Divide limits value operational part, the dipper cylinder velocity arithmetic portion that 9d ... is operated based on operator, control spot speed of the 9e ... based on dipper Operational part, the vertical component operational part of control spot speed of the 9f ... based on swing arm, swing arm cylinder speed of the 9g ... based on Mechanical course Operational part, 9h ... swing arms elder generation pilot operational part, 9i ... swing arm ordering calculations portion, 9j ... dippers elder generation pilot operational part, 9k ... dippers Ordering calculation portion, the regions 9r ... limitation control switch operation portion, 9z ... dipper cylinder target velocity operational parts, 10a, 10b, 11a, 10b ... electromagnetic proportional valves, 12 ... shuttle valves, 21 ... position operational parts, 22 ... the 1st distance calculating units, 23 ... velocity arithmetic portions, 24 ... projected position operational parts, 25 ... the 2nd distance calculating units, 26 ... determination units, 27 ... angle variable quantity operational parts, 28 ... slow down Amount operational part, 50a~55b ... hydraulic-drivens portion, 60a, 60b, 61a, 61b ... pressure detector, 93 ... storage devices, 900 ... Operation control part, 910 ... electromagnetic proportional valve control units

Claims

1. a kind of Work machine, has:

The apparatus for work of joint type, multiple driven member are linked and are constituted, in the enterprising action of defined action plane Make;

Multiple hydraulic actuating mechanisms respectively drive the multiple driven member based on operation signal;

Operating device, the desired hydraulic actuating mechanism of operator into the multiple hydraulic actuating mechanism export the behaviour Make signal;With

Control device, the side acted in the target face of control object and its in the region of top with the apparatus for work Formula executes and exports the operation signal at least one of the multiple hydraulic actuating mechanism hydraulic actuating mechanism or to quilt It is output to the area that the operation signal of at least one of the multiple hydraulic actuating mechanism hydraulic actuating mechanism is modified Domain limitation controls, and the Work machine is characterized in that,

The control device has:

Storage device is stored in the action plane so that different angle connects and can be as the mesh of the control object The two lines section in mark face, as the two lines section intersection point position of the inflection point in the action plane and in the work The 1st datum mark set in the tip portion of industry device and the 2nd datum mark;

Position operational part calculates the 1st datum mark and the 2nd datum mark exists based on the posture of the apparatus for work Position in the action plane;And

1st distance calculating unit, calculate separately out from the action plane the 1st datum mark and the 2nd datum mark Distance until the target face of the control object,

From smaller in the distance until the 1st datum mark and the 2nd datum mark to the target face of the control object When the distance of one side is threshold value or less, to the operation signal that is exported from the operating device with the hydraulic pressure of the object of the operation signal The mode that the movement speed of executing agency reduces is modified.

2. Work machine as described in claim 1, which is characterized in that also have:

Projected position operational part calculates the 1st datum mark and the 2nd datum mark projecting to the control object Position of two subpoints in the action plane obtained from target face;With

2nd distance calculating unit is calculated separately out and is turned from the position of described two subpoints in the action plane to described Distance until point,

In the case where the control device reduces the movement speed of the hydraulic actuating mechanism of the object of the operation signal, The degree of the reduction is set to, and the distance of the smaller side in the distance until from described two subpoints to the inflection point is got over The degree of the small then reduction is bigger.

3. Work machine as claimed in claim 2, which is characterized in that

Also have determination unit, judge the inflection point in the target face of the control object and its on extended line with the presence or absence of in Between described two subpoints,

The control device is until the 1st datum mark and the 2nd datum mark to the target face of the control object When the distance of a smaller side in distance is the threshold value or less, and judged to be present in institute at the inflection point by the determination unit When stating between two subpoints, with the reduction degree of the movement speed of the hydraulic actuating mechanism of the object of the operation signal The drop for being configured to the distance based on the smaller side in the distance until from described two subpoints to the inflection point and setting The mode of the value more than maximum value of low degree is modified the operation signal exported from the operating device.

4. Work machine as claimed in claim 2 or claim 3, which is characterized in that

Also there is angle variable quantity operational part, the angle variable quantity operational part to calculate the target of the target face of the control object Absolute value, that is, angle variable quantity of difference between the target face angle of the target face of face angle degree and next control object,

In the case where the control device reduces the movement speed of the hydraulic actuating mechanism of the object of the operation signal, The degree of the reduction is set to, and the degree of the more big then reduction of the angle variable quantity is bigger.